TrapezoidProfile Class Reference

#include <trapezoid_profile.h>

Public Member Functions
	TrapezoidProfile (const double &x_initial, const double &x_target, const double &v_max, const double &accel, const double &decel)
motion_t	calculate (double t)
double	total_time ()
	TrapezoidProfile (const double &x_initial, const double &x_target, const double &v_max, const double &accel, const double &decel)
motion_t	calculate (double t)
double	total_time ()

Detailed Description

Class representing a trapezoidal motion profile. This consists of either two or three stages. First, an acceleration stage where the velocity increases to a maximum. Then a cruise stage where the velocity is constant, then a deceleration stage where the velocity decreases to zero.

This implementation allows for different acceleration and deceleration rates.

This is best used with LQR, as it tracks both velocity and position at the same time, however it can also be used with PID and feedforward.

Author

Jack Cammarata

Date

3/28/2025

Class representing a trapezoidal motion profile. This consists of either two or three stages. First, an acceleration stage where the velocity increases to a maximum. Then a cruise stage where the velocity is constant, then a deceleration stage where the velocity decreases to zero.

This implementation allows for different acceleration and deceleration rates.

This is best used with LQR, since it allows full state feedback, but it can also be used with PID and Feedforward.

Author

Jack Cammarata

Date

3/28/2025

Constructor & Destructor Documentation

TrapezoidProfile() [1/2]

TrapezoidProfile::TrapezoidProfile	(	const double &	x_initial,
		const double &	x_target,
		const double &	v_max,
		const double &	accel,
		const double &	decel )

Constructs a TrapezoidProfile.

Parameters

x_initial	The initial position.
x_target	The target position.
v_max	The maximum velocity.
accel	The acceleration.
decel	The deceleration.

TrapezoidProfile() [2/2]

TrapezoidProfile::TrapezoidProfile ( const double & x_initial, const double & x_target, const double & v_max, const double & accel, const double & decel )

inline

Constructs a TrapezoidProfile.

Parameters

x_initial	The initial position.
x_target	The target position.
v_max	The maximum velocity.
accel	The acceleration.
decel	The deceleration.

Member Function Documentation

calculate() [1/2]

motion_t TrapezoidProfile::calculate

(

double

t

)

Calculate the state along the motion profile at some given time.

Parameters

t	The time in seconds.

Returns

the state.

Calculate the state along the motion profile after some given time.

Parameters

t	The time in seconds.

Returns

the state.

calculate() [2/2]

motion_t TrapezoidProfile::calculate ( double t )

inline

Calculate the state along the motion profile at some given time.

Parameters

t	The time in seconds.

Returns

the state.

total_time() [1/2]

double TrapezoidProfile::total_time

(

)

Returns the total time that the motion profile takes to complete.

Returns

the total time that the motion profile takes to complete.

total_time() [2/2]

double TrapezoidProfile::total_time ( )

inline

Returns the total time that the motion profile takes to complete.

Returns

the total time that the motion profile takes to complete.

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The documentation for this class was generated from the following files:

• core/utils/controls/trapezoid_profile.h
• math/trajectories/trapezoid_profile.h
• trapezoid_profile.cpp